Search results for: solar control film

Authors: M. S. Merzoug, F. Naceri

Abstract:

This paper presents a comparative study on two most popular control strategies for Permanent Magnet Synchronous Motor (PMSM) drives: field-oriented control (FOC) and direct torque control (DTC). The comparison is based on various criteria including basic control characteristics, dynamic performance, and implementation complexity. The study is done by simulation using the Simulink Power System Blockset that allows a complete representation of the power section (inverter and PMSM) and the control system. The simulation and evaluation of both control strategies are performed using actual parameters of Permanent Magnet Synchronous Motor fed by an IGBT PWM inverter.

Keywords: PMSM, FOC, DTC, hysteresis, PWM.

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Authors: Kevin Anderson, Sukhwinder Singh Sandhu, Nouh Anies, Shilpa Ravichandra, Steven Dobbs, Donald Edberg

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This paper presents the results of a Finite Element based vibration analysis of a solar powered Unmanned Aerial Vehicle (UAV). The purpose of this paper was to quantify the free vibration, forced vibration response due to differing point inputs in order to predict the relative response magnitudes and frequencies at various wing locations of vibration induced power generators (magnet in coil) excited by gust and/or control surface pulse-decays used to help power the flight of the electric UAV. A Fluid Structure Interaction (FSI) study was performed in order to ascertain pertinent design stresses and deflections as well as aerodynamic parameters of the UAV airfoil. The 10 ft span airfoil is modeled using Mylar as the primary material. Results show that the free mode in bending is 4.8 Hz while the first forced bending mode is on range of 16.2 to 16.7 Hz depending on the location of excitation. The free torsional bending mode is 28.3 Hz, and the first forced torsional mode is range of 26.4 to 27.8 Hz, depending on the location of excitation. The FSI results predict the coefficients of aerodynamic drag and lift of 0.0052 and 0.077, respectively, which matches hand-calculations used to validate the Finite Element based results. FSI based maximum von Mises stresses and deflections were found to be 0.282 MPa and 3.4 mm, respectively. Dynamic pressures on the airfoil range from 1.04 to 1.23 kPa corresponding to velocity magnitudes in range of 22 to 66 m/s.

Keywords: ANSYS, finite element, FSI, UAV, vibrations.

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Authors: Kamil Aida-zade, C. Ardil

Abstract:

We study the problem of synthesis of lumped sources control for the objects with distributed parameters on the basis of continuous observation of phase state at given points of object. In the proposed approach the phase state space (phase space) is beforehand somehow partitioned at observable points into given subsets (zones). The synthesizing control actions therewith are taken from the class of piecewise constant functions. The current values of control actions are determined by the subset of phase space that contains the aggregate of current states of object at the observable points (in these states control actions take constant values). In the paper such synthesized control actions are called zone control actions. A technique to obtain optimal values of zone control actions with the use of smooth optimization methods is given. With this aim, the formulas of objective functional gradient in the space of zone control actions are obtained.

Keywords: Feedback control, distributed systems, smooth optimization methods, lumped control synthesis.

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Authors: T. C. Kuo, Y. J. Huang, B. W. Hong

Abstract:

This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.

Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.

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Authors: Y. J. Huang, C. H. Chang

Abstract:

In this paper, an intelligent automatic parking control method is proposed. First, the dynamical equation of the rear parking control is derived. Then a fuzzy logic control is proposed to perform the parking planning process. Further, a rear neural network is proposed for the steering control. Through the simulations and experiments, the intelligent auto-parking mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances. To improve some shortcomings and limitations in conventional parking mode control and further to reduce consumption time and prime cost.

Keywords: Auto-parking system, Fuzzy control, Neural network, Robust

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Authors: A. Bazoula, H. Maaref

Abstract:

In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.

Keywords: Autonomous mobile robot, Formation control, Fuzzy logic control, Multiple robots, Leader-Follower.

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Authors: Suboohi Shervani, Jingjing Ling, Jiabin Liu, Tahir Husain

Abstract:

Offshore oil-spill has become the most emerging problem in the world. In the current paper, a graphene/ZnO/polymer nanocomposite thin film is coated on stainless steel mesh via layer by layer deposition method. The structural characterization of materials is determined by Scanning Electron Microscopy (SEM) and X-ray diffraction (XRD). The total petroleum hydrocarbons (TPHs) and separation efficiency have been measured via gas chromatography – flame ionization detector (GC-FID). TPHs are reduced to 2 ppm and separation efficiency of the nanocomposite coated mesh is reached ≥ 99% for the final sample. The nanocomposite coated mesh acts as a promising candidate for the separation of oil- water mixture.

Keywords: Oil-spill, graphene, oil-water separation, nanocomposite.

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Authors: Tomoaki Hashimoto

Abstract:

Recently, feedback control systems using random dither quantizers have been proposed for linear discrete-time systems. However, the constraints imposed on state and control variables have not yet been taken into account for the design of feedback control systems with random dither quantization. Model predictive control is a kind of optimal feedback control in which control performance over a finite future is optimized with a performance index that has a moving initial and terminal time. An important advantage of model predictive control is its ability to handle constraints imposed on state and control variables. Based on the model predictive control approach, the objective of this paper is to present a control method that satisfies probabilistic state constraints for linear discrete-time feedback control systems with random dither quantization. In other words, this paper provides a method for solving the optimal control problems subject to probabilistic state constraints for linear discrete-time feedback control systems with random dither quantization.

Keywords: Optimal control, stochastic systems, discrete-time systems, probabilistic constraints, random dither quantization.

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Authors: A. K. Pradhan, M. K. Mohanty, S. K. Kar

Abstract:

The power system utility has started to think about the green power technology in order to have an eco-friendly environment. The green power technology utilizes renewable energy sources for reduction of GHG emissions. Odisha state (India) is very rich in potential of renewable energy sources especially in solar energy (about 300 solar days), for installation of grid connected photovoltaic system. This paper focuses on the utilization of photovoltaic systems in an Institute building of Bhubaneswar city, Odisha. Different data like solar insolation (kW/m²/day), sunshine duration has been collected from metrological stations for Bhubaneswar city. The required electrical power and cost are calculated for daily load of 1.0 kW. The HOMER (Hybrid Optimization Model of Electric Renewable) software is used to estimate system size and its performance analysis. The simulation result shows that the cost of energy (COE) is $ 0.194/kWh, the Operating cost is $63/yr and the net present cost (NPC) is $3,917. The energy produced from PV array is 1,756kWh/yr and energy purchased from grid is 410kWh/yr. The AC primary load consumption is 1314 kWh/yr and the Grid sales are 746 kWh/yr. One battery is connected in parallel with 12V DC Bus and the usable nominal capacity 2.4 kWh with 9.6 h autonomy capacity.

Keywords: Economic assessment, HOMER, Optimization, Photovoltaic (PV), Renewable energy.

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Authors: Fangfang Meng, Shuang Cong

Abstract:

In the closed quantum system, if the control system is strongly regular and all other eigenstates are directly coupled to the target state, the control system can be asymptotically stabilized at the target eigenstate by the Lyapunov control based on the state error. However, if the control system is not strongly regular or as long as there is one eigenstate not directly coupled to the target state, the situations will become complicated. In this paper, we propose an implicit Lyapunov control method based on the state error to solve the convergence problems for these two degenerate cases. And at the same time, we expand the target state from the eigenstate to the arbitrary pure state. Especially, the proposed method is also applicable in the control system with multi-control Hamiltonians. On this basis, the convergence of the control systems is analyzed using the LaSalle invariance principle. Furthermore, the relation between the implicit Lyapunov functions of the state distance and the state error is investigated. Finally, numerical simulations are carried out to verify the effectiveness of the proposed implicit Lyapunov control method. The comparisons of the control effect using the implicit Lyapunov control method based on the state distance with that of the state error are given.

Keywords: Implicit Lyapunov control, state error, degenerate cases, convergence.

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Authors: Toshinori Nawata

Abstract:

In this paper a nonlinear feedback control called augmented automatic choosing control (AACC) for a class of nonlinear systems with constrained input is presented. When designed the control, a constant term which arises from linearization of a given nonlinear system is treated as a coefficient of a stable zero dynamics. Parameters of the control are suboptimally selected by maximizing the stable region in the sense of Lyapunov with the aid of a genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: Augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.

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Authors: Shiuh-Jer Huang, Su-Shean Chen, Sheam-Chyun Lin

Abstract:

Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.

Keywords: Balance control, speed control, intelligent controller and two wheel inverted pendulum.

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Authors: Bo Yang, Christopher Monterola

Abstract:

Urban intersection control without the use of the traffic light has the potential to vastly improve the efficiency of the urban traffic flow. For most proposals in the literature, such lightless intersection control depends on the mass market commercialization of highly intelligent autonomous vehicles (AV), which limits the prospects of near future implementation. We present an efficient lightless intersection traffic control scheme that only requires Level 1 AV as defined by NHTSA. The technological barriers of such lightless intersection control are thus very low. Our algorithm can also accommodate a mixture of AVs and conventional vehicles. We also carry out large scale numerical analysis to illustrate the feasibility, safety and robustness, comfort level, and control efficiency of our intersection control scheme.

Keywords: Intersection control, autonomous vehicles, traffic modelling, intelligent transport system.

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Authors: M. Almeshal, M. O. Tokhi, K. M. Goher

Abstract:

A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.

Keywords: double inverted pendulum, modelling, robust control, simulation,

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Authors: N. Sozbir, M. Bulut, M.F.Oktem, A.Kahriman, A. Chaix

Abstract:

TUSAT is a prospective Turkish Communication Satellite designed for providing mainly data communication and broadcasting services through Ku-Band and C-Band channels. Thermal control is a vital issue in satellite design process. Therefore, all satellite subsystems and equipments should be maintained in the desired temperature range from launch to end of maneuvering life. The main function of the thermal control is to keep the equipments and the satellite structures in a given temperature range for various phases and operating modes of spacecraft during its lifetime. This paper describes the thermal control design which uses passive and active thermal control concepts. The active thermal control is based on heaters regulated by software via thermistors. Alternatively passive thermal control composes of heat pipes, multilayer insulation (MLI) blankets, radiators, paints and surface finishes maintaining temperature level of the overall carrier components within an acceptable value. Thermal control design is supported by thermal analysis using thermal mathematical models (TMM).

Keywords: Spacecraft thermal control, design of thermal control.

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Authors: Sheam-Chyun Lin, Wei-Kai Chen, Hung-Cheng Yen, Yung-Jen Cheng, Yu-Cheng Chen

Abstract:

Result from the constant dwindle in natural resources, the alternative way to reduce the costs in our daily life would be urgent to be found in the near future. As the ancient technique based on the theory of solar chimney since roman times, the double-skin façade are simply composed of two large glass panels in purpose of daylighting and also natural ventilation in the daytime. Double-skin façade is generally installed on the exterior side of buildings as function as the window, so there is always a huge amount of passive solar energy the façade would receive to induce the airflow every sunny day. Therefore, this article imposes a domestic double-skin window for residential usage and attempts to improve the volume flow rate inside the cavity between the panels by the frame geometry design, the installation of outlet guide plate and the solar energy collection system. Note that the numerical analyses are applied to investigate the characteristics of flow field, and the boundary conditions in the simulation are totally based on the practical experiment of the original prototype. Then we redesign the prototype from the knowledge of the numerical results and fluid dynamic theory, and later the experiments of modified prototype will be conducted to verify the simulation results. The velocities at the inlet of each case are increase by 5%, 45% and 15% from the experimental data, and also the numerical simulation results reported 20% improvement in volume flow rate both for the frame geometry design and installation of outlet guide plate.

Keywords: Solar energy, Double-skin façades, Thermal buoyancy, Fluid machinery.

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Authors: Alaa Y. Ali, Natalie P. Holmes, John Holdsworth, Warwick Belcher, Paul Dastoor, Xiaojing Zhou

Abstract:

Multi-layered graphene has been produced under low temperature chemical vapour deposition (CVD) growth conditions by utilizing an organic solvent and polymer film source. Poly(methylmethacrylate) (PMMA) was dissolved in chlorobenzene solvent and used as a drop-cast film carbon source on a quartz slide. A source temperature (T_source) of 180 °C provided sufficient carbon to grow graphene, as identified by Raman spectroscopy, on clean copper foil catalytic surfaces.  Systematic variation of hydrogen gas (H₂) flow rate from 25 standard cubic centimeters per minute (sccm) to 100 sccm and CVD temperature (T_growth) from 400 to 800 °C, yielded graphene films of varying quality as characterized by Raman spectroscopy. The optimal graphene growth parameters were found to occur with a hydrogen flow rate of 75 sccm sweeping the 180 °C source carbon past the Cu foil at 600 °C for 1 min. The deposition at 600 °C with a H₂ flow rate of 75 sccm yielded a 2D band peak with ~53.4 cm^-1 FWHM and a relative intensity ratio of the G to 2D bands (I_G/I_2D) of 0.21. This recipe fabricated a few layers of good quality graphene.

Keywords: Graphene, chemical vapour deposition, carbon source, low temperature growth.

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Authors: M. Z Md Zain, M. O. Tokhi, M. S. Alam

Abstract:

This paper describes a practical approach to design and develop a hybrid learning with acceleration feedback control (HLC) scheme for input tracking and end-point vibration suppression of flexible manipulator systems. Initially, a collocated proportionalderivative (PD) control scheme using hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a further hybrid control scheme of the collocated PD control and iterative learning control with acceleration feedback using genetic algorithms (GAs) to optimize the learning parameters. Experimental results of the response of the manipulator with the control schemes are presented in the time and frequency domains. The performance of the HLC is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various payloads.

Keywords: Flexible manipulator, iterative learning control, vibration suppression.

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Authors: A. A. Jafari, A. M. Khoshnood, J. Roshanian

Abstract:

Attitude control of aerospace system with liquid containers may face to a problem associate with fuel sloshing. The sloshing phenomena can degrade the stability of control system and in the worst case, interaction between the attitude control system and fuel vibration leading to resonance. In this paper, a full process of nonlinear dynamic modeling of an aerospace launch vehicle with fuel sloshing is given. Then, a new control system based on model reference adaptive filter is proposed and its algorithm is extracted. This controller implemented on the main attitude control system. Finally, numerical simulation of nonlinear model and control system is carried out to examine the performance of the new controller. Results of simulations show that the inconvenient effects of the fuel sloshing by augmenting this control system are reduced and attitude control system performs, satisfactorily.

Keywords: nonlinear dynamic modeling, fuel sloshing, vibration control, model reference, adaptive filter

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Authors: R. Akbari, M. A. Ehyaei, R. Shahi Shavvon

Abstract:

Nowadays, solar energy is used for energy purposes such as the use of thermal energy for domestic, industrial and power applications, as well as the conversion of the sunlight into electricity by photovoltaic cells. In this study, the thermodynamic simulation of the solar Rankin cycle with phase change material (paraffin) was first studied. Then energy and exergy analyses were performed. For optimization, a single and multi-objective genetic optimization algorithm to maximize thermal and exergy efficiency was used. The parameters discussed in this paper included the effects of input pressure on turbines, input mass flow to turbines, the surface of converters and collector angles on thermal and exergy efficiency. In the organic Rankin cycle, where solar energy is used as input energy, the fluid selection is considered as a necessary factor to achieve reliable and efficient operation. Therefore, silicon oil is selected for a high-temperature cycle and water for a low-temperature cycle as an operating fluid. The results showed that increasing the mass flow to turbines 1 and 2 would increase thermal efficiency, while it reduces and increases the exergy efficiency in turbines 1 and 2, respectively. Increasing the inlet pressure to the turbine 1 decreases the thermal and exergy efficiency, and increasing the inlet pressure to the turbine 2 increases the thermal efficiency and exergy efficiency. Also, increasing the angle of the collector increased thermal efficiency and exergy. The thermal efficiency of the system was 22.3% which improves to 33.2 and 27.2% in single-objective and multi-objective optimization, respectively. Also, the exergy efficiency of the system was 1.33% which has been improved to 1.719 and 1.529% in single-objective and multi-objective optimization, respectively. These results showed that the thermal and exergy efficiency in a single-objective optimization is greater than the multi-objective optimization.

Keywords: Exergy analysis, Genetic algorithm, Rankine cycle, Single and Multi-objective function.

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Authors: Saad Odeh

Abstract:

Thermal performance is considered to be a key measure in building sustainability. One of the technologies used in the current building sustainable design is the rooftop solar PV power generators. The application of this type of technology has expanded vastly during the last five years in many countries. This paper studies the effect of roof shading developed by the solar PV panels on dwellings’ thermal performance. The analysis in this work is performed by using two types of packages: “AccuRate Sustainability” for rating the energy efficiency of residential building design, and “PVSYST” for the solar PV power system design. The former package is used to calculate the annual heating and cooling load, and the later package is used to evaluate the power production from the roof top PV system. The analysis correlates the electrical energy generated from the PV panels to the change in the heating and cooling load due to roof shading. Different roof orientation, roof inclination, roof insulation, as well as PV panel area are considered in this study. The analysis shows that the drop in energy efficiency due to the shaded area of the roof by PV panels is negligible compared to the energy generated by these panels.

Keywords: Energy efficiency, roof shading, thermal performance, PV panel.

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Authors: Rajesh Kumar, Roopali Dogra, Puneet Aggarwal

Abstract:

Based on a survey conducted for second and third year students of the electrical engineering department at Maharishi Markandeshwar University, India, it was found that around 92% of students felt that it would be better to introduce a virtual environment for laboratory experiments. Hence, a need was felt to perform modern pedagogy techniques for students which consist of a virtual environment using MATLAB/Simulink. In this paper, a virtual environment for the speed control of a DC motor is performed using MATLAB/Simulink. The various speed control methods for the DC motor include the field resistance control method and armature voltage control method. The performance analysis of the DC motor is hence analyzed.

Keywords: Pedagogy techniques, speed control, virtual environment, DC motor, field control, voltage control.

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Authors: N. Z. Azlan, H. Yamaura

Abstract:

The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control algorithm and Recursive Least Square (RLS) based Feedback Error Learning (FEL) control scheme to overcome the uncertainties present in the plant. The experiments conducted in Matlab Simulink and xPC Target environments show that the overall control strategy is efficient in controlling the finger movement.

Keywords: Anthropomorphic finger, position control, feedback error learning, experimental study

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Authors: A. Ourici

Abstract:

This paper proposes a direct power control for doubly-fed induction machine for variable speed wind power generation. It provides decoupled regulation of the primary side active and reactive power and it is suitable for both electric energy generation and drive applications. In order to control the power flowing between the stator of the DFIG and the network, a decoupled control of active and reactive power is synthesized using PI controllers.The obtained simulation results show the feasibility and the effectiveness of the suggested method

Keywords: Doubly fed induction machine , decoupled power control , vector control , active and reactive power, PWM inverter

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Authors: T. Narongrit, K-L. Areerak, K-N. Areerak

Abstract:

This paper presents the comparison study of current control techniques for shunt active power filter. The hysteresis current control, the delta modulation control and the carrier-based PWM control are considered in the paper. The synchronous detection method is used to calculate the reference currents for shunt active power filter. The simulation results show that the carrier-based PWM control technique provides the minimum %THD value of the source currents compared with other comparable techniques after compensation. However, the %THD values of all three techniques can follow the IEEE std.519-1992.

Keywords: hysteresis current control, delta modulation current control, pulse width modulation control, shunt active power filter, synchronous detection.

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Authors: Turhan Koyuncu, Fuat Lule

Abstract:

The most common domestic birds live in Turkey are: crows (Corvus corone), pigeons (Columba livia), sparrows (Passer domesticus), starlings (Sturnus vulgaris) and blackbirds (Turdus merula). These birds give damage to the agricultural areas and make dirty the human life areas. In order to send away these birds, some different materials and methods such as chemicals, treatments, colored lights, flash and audible scarers are used. It is possible to see many studies about chemical methods in the literatures. However there is not enough works regarding audible bird scarers are reported in the literature. Therefore, a solar powered bird scarer was designed, manufactured and tested in this experimental investigation. Firstly, to understand the sensitive level of these domestic birds against to the audible scarer, many series preliminary studies were conducted. These studies showed that crows are the most resistant against to the audible bird scarer when compared with pigeons, sparrows, starlings and blackbirds. Therefore the solar powered audible bird scarer was tested on crows. The scarer was tested about one month during April- May, 2007. 18 different common known predators- sounds (voices or calls) of domestic birds from Falcon (Falco eleonorae), Falcon (Buteo lagopus), Eagle (Aquila chrysaetos), Montagu-s harrier (Circus pygargus) and Owl (Glaucidium passerinum) were selected for test of the scarer. It was seen from the results that the reaction of the birds was changed depending on the predators- sound type, camouflage of the scarer, sound quality and volume, loudspeaker play and pause periods in one application. In addition, it was also seen that the sound from Falcon (Buteo lagopus) was most effective on crows and the scarer was enough efficient.

Keywords: Bird damage, Audible scarer, Solar powered scarer, Predator sound

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Authors: M. Ghasemi-Varnamkhasti, S. H. Yoosefian. A. Mohammad- Razdari

Abstract:

The effect of 1.0 kJ/m² Ultraviolet-C (UV-C) light on pH, weight loss, color, and firmness of button mushroom (Agaricus bisporus) tissues during 21-days storage at 4 ºC was studied. UV-C irradiation enhanced pH, weight, color parameters, and firmness of mushroom during storage compared to control treatment. However, application of 1.0 kJ/m² UV-C treatment could effectively induce the increase of weight loss, firmness, and pH to 14.53%, 49.82%, and 10.39%, respectively. These results suggest that the application of UV-C irradiation could be an effective method to maintain the postharvest quality of mushrooms.

Keywords: Mushroom, polyethylene film, quality, UV-C irradiation.

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Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang

Abstract:

Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

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Authors: N. Popovich, P. Yan

Abstract:

In this paper, the process of obtaining Q and R matrices for optimal pitch aircraft control system has been described. Since the innovation of optimal control method, the determination of Q and R matrices for such system has not been fully specified. The value of Q and R for optimal pitch aircraft control application, have been simulated and calculated. The suitable results for Q and R have been observed through the performance index (PI). If the PI is small “enough", we would say the Q & R values are suitable for that certain type of optimal control system. Moreover, for the same value of PI, we could have different Q and R sets. Due to the rule-free determination of Q and R matrices, a specific method is brought to find out the rough value of Q and R referring to rather small value of PI.

Keywords: Aircraft, control, digital, optimal, Q and R matrices

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Authors: Ming-Hui Lee, Shou-Jen Hsu

Abstract:

This study presents an active vibration control technique to reduce the earthquake responses of a retained structural system. The proposed technique is a synthesis of the adaptive input estimation method (AIEM) and linear quadratic Gaussian (LQG) controller. The AIEM can estimate an unknown system input online. The LQG controller offers optimal control forces to suppress wall-structural system vibration. The numerical results show robust performance in the active vibration control technique.

Keywords: Active vibration control, AIEM, LQG, Optimal control

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